CN110703794A - Multi-unmanned aerial vehicle control system based on ROS and control method thereof - Google Patents
Multi-unmanned aerial vehicle control system based on ROS and control method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of aircraft cooperative control. A multi-unmanned aerial vehicle control system based on ROS comprises a communication module, a first power module and a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle comprises a group control system and a flight control system; the group control system is used for acquiring the position information of each unmanned aerial vehicle in the system, acquiring the GPS coordinate of the local machine, issuing the GPS coordinate to other unmanned aerial vehicles in the system, receiving control data sent by a ground control station, and sending the control data to the flight control system for operation after data processing; the flight control system is used for receiving a control instruction of the group control system, acquiring position information and speed information of the unmanned aerial vehicle and controlling the flight mode, height, speed and course of the unmanned aerial vehicle; the group control system performs information interaction with all unmanned aerial vehicles through the communication module, and all unmanned aerial vehicles communicate with each other through the communication module; the first power supply module is used for supplying power to the group control system and the flight control system. The invention can improve the task execution efficiency and the stability of the cooperative application of the multiple unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of cooperative control of aircrafts, in particular to a multi-unmanned aerial vehicle control system based on ROS and a control method thereof.
Background
The unmanned aerial vehicle has incomparable superiority in military striking and defense, and is widely applied in the fields of civil emergency medical delivery, fire disaster relief, geological exploration, electric power overhaul and the like due to the characteristics of flexibility, high task efficiency and the like. The single unmanned aerial vehicle has limited effects, such as building fire conditions, and the situation that a disaster detection blind area appears in a certain position can only be detected at the same time, so that disasters are caused due to failure to timely detect emergencies, and the single unmanned aerial vehicle is possibly damaged due to sudden change of fire in the fire rescue process, so that the rescue cannot be continued, and the rescue efficiency is seriously influenced.
When multiple unmanned aerial vehicles execute tasks together, the unmanned aerial vehicles need to communicate with each other, coordinate and avoid mutual collision, and the research on the problem that one unmanned aerial vehicle system solves the problems of multiple unmanned aerial vehicles, multiple unmanned aerial vehicles and the like has great practical significance.
Disclosure of Invention
The invention overcomes the defects of the technical problems and provides the ROS-based multi-unmanned aerial vehicle control system and the control method thereof, which can improve the environmental adaptability of the multi-unmanned aerial vehicle system, improve the task execution efficiency and improve the stability of the cooperative application of the multi-unmanned aerial vehicle.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a multi-unmanned aerial vehicle control system based on ROS comprises a communication module, a first power module and a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle comprises a group control system arranged on a group control board and a flight control system arranged on a flight control board; the communication module is respectively connected with a plurality of unmanned aerial vehicles; the group control system is connected with the flight control system; the first power supply module is respectively connected with the group control system and the flight control system;
the group control system adopts Raspberry 3Pi Mode B as a top layer controller and is used for acquiring position information of each unmanned aerial vehicle in the system, acquiring GPS coordinates of the system, issuing the coordinates to other unmanned aerial vehicles in the system, receiving control data sent by a ground control station, and sending the control data to a flight controller of a flight control system for operation after data processing;
the flight control system adopts Pixhawk as a control bottom layer and is used for receiving a control instruction of the group control system, acquiring position information and speed information of the unmanned aerial vehicle and controlling the flight mode, height, speed and course of the unmanned aerial vehicle;
the group control system is in information interaction with the unmanned aerial vehicles through the communication module, and the unmanned aerial vehicles are communicated through the communication module;
the first power supply module is used for supplying power to the group control system and the flight control system.
Furthermore, the flight control system comprises a flight controller, a receiver, an alarm, a safety switch, a GPS module, an electronic speed regulator and a brushless motor; the receiver, the alarm, the safety switch, the GPS module and the electronic speed regulator are respectively connected with the flight controller, and the brushless motor is connected with the electronic speed regulator; wherein:
the flight controller is the core of a flight control system and is used for data processing and control;
the receiver is used for receiving a control instruction transmitted by the ground control station;
the alarm is used for receiving an alarm signal, automatically giving an audible and visual alarm after receiving the alarm signal and sending a corresponding action signal; the action signal includes: an unmanned aerial vehicle automatic return signal or an unmanned aerial vehicle hovering signal;
the safety switch is used for locking power output of the unmanned aerial vehicle in a standby state;
the GPS module is used for detecting the position information of the unmanned aerial vehicle and sending the position information to the flight controller;
the electronic speed regulator is used for controlling the rotation of the brushless motor according to the control signal of the flight controller.
Furthermore, the electronic speed regulator comprises a second power module, a main control module, a zero-crossing detection circuit module and a six-arm full-bridge driving circuit module; the output end of the main control module is connected with the input end of the six-arm full-bridge driving circuit module through the intermediate driver, the output end of the six-arm full-bridge driving circuit module is externally connected with the brushless motor, and the output end of the zero-crossing detection circuit module is connected with the input end of the main control module; the second power supply module is connected with the main control module.
Further, the six-arm full-bridge driving module is composed of an N-channel MOS (metal oxide semiconductor) transistor with the model number of SL150N03Q, and the main control module is a processor with the model number of EFM8BB 21;
further, the intermediate driver adopts a three-phase gate driver with the model number FD 6288.
Further, the ground control station comprises a ground remote controller or a PC (personal computer) for sending instructions to the unmanned aerial vehicle, and a display for displaying the position of the unmanned aerial vehicle.
The invention also provides a multi-unmanned aerial vehicle control method based on ROS, which comprises a position control method, a cooperative control method and an avoidance mutual collision method among the unmanned aerial vehicles.
Further, the method for controlling the position between the human machine and the machine comprises a position control mode, wherein the flight control system acquires a flight mode of the unmanned aerial vehicle and a GPS coordinate of a machine body, detects the number of satellites, switches the unmanned aerial vehicle to the position control mode when the number of the satellites is larger than a preset value, receives position control data of the ground control station and distributes target coordinates in the position control mode, controls the unmanned aerial vehicle to move in different modes according to different position control data, and switches to the previous control module when the refreshing time of the position control data exceeds the preset value.
Further, the cooperative control method includes the steps that a flight control system acquires a flight mode of the unmanned aerial vehicle and a GPS coordinate of a machine body, the number of satellites is detected, when the number of the satellites is larger than a preset value, the unmanned aerial vehicle is switched to a position control mode, cooperative control data of a ground control station are received in the position control mode for data processing, then an electronic speed regulator is scheduled and controlled to output through controlling Pixhawk to enable the aircraft to move to a target position, and when the coordinate position of the machine body is matched with the coordinate of the target position, the fact that the aircraft reaches the target position is indicated.
Further, the method for avoiding mutual collision includes the steps that the group control system obtains GPS coordinates of all unmanned aerial vehicles, the distance between the unmanned aerial vehicles is calculated according to the GPS coordinates, whether the distance reaches a mutual collision threat radius is judged through judging, if the distance reaches the threat radius, the mutual collision avoidance is started to avoid the mutual collision of the unmanned aerial vehicles, and otherwise, the detection of the mutual collision avoidance is finished.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention can improve the adaptive capacity of the multi-unmanned aerial vehicle system to the environment, improve the task execution efficiency and improve the stability of the cooperative application of the multi-unmanned aerial vehicle. In the invention, the hardware part of the ROS-based multi-unmanned aerial vehicle control system adopts Pixhawk to be responsible for unmanned aerial vehicle attitude control, the position of the unmanned aerial vehicle on a world coordinate system is obtained through a GPS module, and a Raspberry 3Pi Mode B (Raspberry group 3B) is adopted as a top layer controller in a group control system to divide each module into nodes, so that topic messages such as a sensor, unmanned aerial vehicle states and coordinates are published and subscribed, and communication among the unmanned aerial vehicles is facilitated. Compared with a single unmanned aerial vehicle, the ROS-based multi-unmanned aerial vehicle system can effectively solve the problem that the single unmanned aerial vehicle cannot detect disasters in all directions, and finally, the multi-unmanned aerial vehicle system can be used for simultaneously taking off one set of multi-unmanned aerial vehicles, and can avoid mutual collision among the multi-unmanned aerial vehicle target positions and the unmanned aerial vehicles due to the fact that the PC machine can change the target positions of the multi-unmanned aerial vehicles. And the communication mechanism based on the ROS system enables each module in the multiple unmanned aerial vehicle systems to be independent, so that certain flexibility is realized.
(2) The electronic speed regulator of the invention supports various signal formats such as PWM, ONEDSHOT125, DSHOT300 and the like, and has expandable height.
(3) The invention adopts Pixhawk as a flight controller, and can provide stable and reliable attitude control.
(4) The unmanned aerial vehicle control system supports two control modes of a PC and a remote controller, has various control modes, can select the unmanned aerial vehicles in an independent control or whole system, has the function of early warning of mutual collision of the unmanned aerial vehicles in the system, and ensures the cooperation, safety and reliability of the unmanned aerial vehicles.
Drawings
FIG. 1 is a block circuit diagram of a ROS based multi-drone control system of an embodiment of the present invention;
FIG. 2 is a block circuit diagram of the electronic governor of the present invention;
FIG. 3 is a circuit diagram of the zero crossing detection circuit module of the present invention;
FIG. 4 is a circuit diagram of a six arm full bridge driver circuit module according to the present invention;
FIG. 5 is a circuit diagram of the intermediate driver of the present invention;
FIG. 6 is a circuit diagram of the primary power supply of the present invention;
FIG. 7 is a circuit diagram of the secondary power supply of the present invention;
FIG. 8 is an interface circuit diagram of the host controller of the present invention;
fig. 9 is a software framework diagram of a multi-drone system of an embodiment of the present invention;
fig. 10 is a flow chart of the multi-drone position control of the present invention;
fig. 11 is a flow chart of the cooperative control of multiple drones of the present invention;
FIG. 12 is a diagram of an evasive collision model for a multi-drone system of the present invention;
fig. 13 is a flow chart of the multiple unmanned aerial vehicles avoiding the mutual collision according to the invention.
Detailed Description
The invention is further described with reference to the following figures and examples. It should be noted that the specific embodiments of the present invention are only for clearly describing the technical solutions, and should not be taken as a limitation to the scope of the present invention.
Referring to fig. 1 to 8, a ROS-based multi-drone control system includes a communication module, a first power module, and a plurality of drones, where each drone includes a group control system disposed on a group control board and a flight control system disposed on a flight control board; the communication module is respectively connected with a plurality of unmanned aerial vehicles; the group control system is connected with the flight control system; the first power supply module is respectively connected with the group control system and the flight control system;
the group control system adopts Raspberry 3Pi Mode B as a top layer controller and is used for acquiring position information of each unmanned aerial vehicle in the system, acquiring GPS coordinates of the system, issuing the coordinates to other unmanned aerial vehicles in the system, receiving control data sent by a ground control station, and sending the control data to a flight controller of a flight control system for operation after data processing;
the flight control system adopts Pixhawk as a control bottom layer and is used for receiving a control instruction of the group control system, acquiring position information and speed information of the unmanned aerial vehicle and controlling the flight mode, height, speed and course of the unmanned aerial vehicle;
the group control system is in information interaction with the unmanned aerial vehicles through the communication module, and the unmanned aerial vehicles are communicated through the communication module; the host computer and the slave computer communicate with each other by adopting the router as a transfer communication module, the ID of the unmanned aerial vehicle is distributed according to the IP address of the router, the system can support 253 unmanned aerial vehicles at most, one unmanned aerial vehicle is the host computer, the rest unmanned aerial vehicles are the slave computers, Pixhawk is used as a flight controller on each unmanned aerial vehicle to be responsible for bottom layer control, and Raspberry type 3B (Raspberry 3Pi Mode B) is used as an onboard computer, namely a top layer controller.
The first power supply module is used for supplying power to the group control system and the flight control system.
In the invention, the hardware part of the ROS-based multi-unmanned aerial vehicle control system adopts Pixhawk to be responsible for unmanned aerial vehicle attitude control, the position of the unmanned aerial vehicle on a world coordinate system is obtained through a GPS module, and a Raspberry 3Pi Mode B (Raspberry group 3B) is adopted as a top layer controller in a group control system to divide each module into nodes, so that topic messages such as a sensor, unmanned aerial vehicle states and coordinates are published and subscribed, and communication among the unmanned aerial vehicles is facilitated. Compared with a single unmanned aerial vehicle, the ROS-based multi-unmanned aerial vehicle system can effectively solve the problem that the single unmanned aerial vehicle cannot detect disasters in all directions, and finally, the multi-unmanned aerial vehicle system can be used for simultaneously taking off one set of multi-unmanned aerial vehicle aircrafts, changing the target positions of the multi-unmanned aerial vehicles through a PC (personal computer) machine and avoiding mutual collision among the unmanned aerial vehicles.
In the formation flight process of a multi-unmanned aerial vehicle system, the postures of all unmanned aerial vehicles in the system are required to be ensured to be stable enough, and a stable flight platform is required to be provided, so that the follow-up task can be reliably responded. Aiming at the problem of aircraft attitude stability, the Pixhawk is adopted as an aircraft controller, the Pixhawk main controller uses an M4 kernel STM32F427 with a floating point arithmetic unit inside, the operation performance is strong, software is based on a NuttX real-time system, and the real-time performance is high. The application layer is provided with an API (application Programming interface) function meeting ROS (reactive operating System), and the ROS can be conveniently used for communication with the application layer. External interface is sufficient, and this flight control ware source code is the full open source, makes things convenient for the later stage to add all kinds of sensors for many unmanned aerial vehicle systems, and scalability is high.
The communication mode of the multi-unmanned aerial vehicle system is based on a ROS (reactive species oxygen species) system (robot operating system) communication mechanism. ROS realizes point-to-point communication through publishing/subscribing between nodes, and realizes communication node searching through a main node, and the point-to-point communication topology of direct connection between processes is very suitable for the environment of the Internet of things. The router with high bandwidth is used as a transfer station, so that the communication quality of the multi-unmanned aerial vehicle system in a small range is ensured, and the overload of network connection caused by limited bandwidth is avoided.
Furthermore, the flight control system comprises a flight controller, a receiver, an alarm, a safety switch, a GPS module, an electronic speed regulator and a brushless motor; the receiver, the alarm, the safety switch, the GPS module and the electronic speed regulator are respectively connected with the flight controller, and the brushless motor is connected with the electronic speed regulator; wherein:
the flight controller is the core of a flight control system and is used for data processing and control;
the receiver is used for receiving a control instruction transmitted by the ground control station;
the alarm is used for receiving an alarm signal, automatically giving an audible and visual alarm after receiving the alarm signal and sending a corresponding action signal; the action signal includes: an unmanned aerial vehicle automatic return signal or an unmanned aerial vehicle hovering signal;
the safety switch is used for locking power output of the unmanned aerial vehicle in a standby state;
the GPS module is used for detecting the position information of the unmanned aerial vehicle and sending the position information to the flight controller;
the electronic speed regulator is used for controlling the rotation of the brushless motor according to the control signal of the flight controller.
The hardware of the multi-unmanned aerial vehicle control system takes Pixhawk as a bottom controller, a receiver is connected to the periphery of the hardware to receive a control signal of a remote controller or a PC, an alarm (buzzer) is connected to serve as information prompt, a safety switch is used for locking power output of the unmanned aerial vehicle in a standby state, personnel safety is guaranteed, a GPS module is carried to acquire position information of the unmanned aerial vehicle based on a world coordinate system, and an electronic speed regulator is adopted to drive a brushless motor; the raspberry pi 3B is used as a top layer controller and is responsible for monitoring position information of other unmanned aerial vehicles in the system, acquiring GPS coordinates of a local machine, issuing the GPS coordinates to the other unmanned aerial vehicles in the system and receiving control data sent by a PC (personal computer), and sending the data to the Pixhawk to control the operation of a bottom layer actuator after data processing.
The multi-unmanned aerial vehicle control system only sends a control signal when sending an instruction to control the power motor, but the power motor needs high voltage and heavy current, and a motor drive, namely an electronic speed regulator, needs to be designed for a power part of the multi-unmanned aerial vehicle control system, wherein the electronic speed regulator comprises a second power supply module, a main control module, a zero-crossing detection circuit module and a six-arm full-bridge drive circuit module; the output end of the main control module is connected with the input end of the six-arm full-bridge driving circuit module through the intermediate driver, the output end of the six-arm full-bridge driving circuit module is externally connected with the brushless motor, and the output end of the zero-crossing detection circuit module is connected with the input end of the main control module; the second power supply module is connected with the main control module. The main control module is also provided with a motor interface and a program downloading port, and an input port of the main control module is externally connected with a pulse signal output end of the flight controller. The zero-crossing detection module is used for detecting that a rotor of the brushless motor reaches a zero point and then triggering phase change, the main control module is responsible for all working states of the electronic speed regulator, and the six-arm full-bridge driving module is responsible for hardware equipment for enabling the motor to change phases and driving the motor to rotate.
The present embodiment further provides a design of the zero crossing detection circuit, as shown in fig. 3, VS1, VS2, and VS3 are respectively connected to the C phase, B phase, and a phase of the motor. The CENTER is the voltage of the middle junction point, A, B, C is three-way voltage obtained by dividing three voltage dividing circuits formed by three phase voltages of the motor through R7 and R8, R9 and R10, R11 and R12 respectively, the reason of voltage division is that the main control working voltage is 3.3V, and the output voltage of the three phases of the motor is the battery voltage (11.1-16.8V).
During the phase AB, the voltage across coil VS3 to the CENTER junction CENTER is measured, during which there is a positive-to-negative transition through zero voltage, a process known as zero crossing. As shown in fig. 3-7, during the conduction of the AB phase, when the potential at the point C is found to be less than the potential at the CENTER, indicating that a zero-crossing event occurs, the commutation operation can be performed.
As shown in fig. 4, the six-arm full-bridge driving circuit is composed of six N-channel MOS transistors of SL150N03Q, and is divided into two parts, i.e., an upper arm and a lower arm, wherein the upper arm is provided with Q1, Q3 and Q5, and the lower arm is provided with Q2, Q4 and Q6. BAT represents the input voltage of the electronic speed regulator, VS1, VS2 and VS3 are respectively connected to C, B, A three phases of the motor, H01, H02 and H03 are the switching control ends of 3 MOS transistors on the upper arm, and L01, L02 and L03 are the switching control ends of three MOS transistors on the lower arm. The drive control mode is to open two MOS tubes not on the same phase at the same time to complete the electrification of two phases of the power motor. If AB phase current is needed, the current loop starts from Q5, then flows through VS3, flows out from the phase A of the motor, flows to VS2 from the phase B of the motor, and finally flows to the power ground through Q4, so that a complete loop is formed, and the AB current can be conducted only by enabling Q5 and Q4.
It can be known from table 1 that the SL150N03Q gate voltage can be turned on when it satisfies 2.5V or more, the main control module adopts a chip whose model is EFM8BB21, the maximum output voltage of the pin of the main control module chip EFM8BB21 is 3.3V, which satisfies the turn-on condition of SL150N03Q, when one of the lower arms of the six-arm full bridge is turned on, the corresponding source voltage of the upper arm is the same as the power supply voltage, the gate voltage of the upper arm must be the power supply voltage plus 2.5V to turn on the upper arm, and the output of the main control module chip at this time cannot satisfy the requirement. For this problem, a three-phase gate driver with model FD6288 is adopted as an intermediate driver, as shown in fig. 5, in the intermediate driver, C8 is a power filter capacitor, D2, D3 and D4 are bootstrap diodes, C4, C5 and C9 are bootstrap capacitors, and a bootstrap circuit is formed by the bootstrap diodes and the bootstrap capacitors. The output of the FD6288 is controlled by the main control module chip, so that the on-off of the drive axle is controlled.
TABLE 1
| Parameter(s) | Symbol | Minimum value | Standard value | Maximum value | Unit of |
| Drain to source voltage | VDSS | - | - | 30 | V |
| Gate to source voltage | VGSS | -20 | 10 | 20 | V |
| Drain Current (DC) | ID | - | 82 | 150 | A |
| Maximum threshold voltage | VTH | 2.5 | 2.5 | - | V |
| Power consumption | PD | - | - | 166 | W |
| Operating temperature | TW | -55 | - | 175 | ℃ |
The effective conduction time of the upper arm is controlled through PWM (Pulse-Width Modulation), and the corresponding lower arm is controlled to be conducted at the same time, so that energy obtained in the same time through the electrification of certain two phases of the motor is different, and the rotation speed of the motor is controllable.
The second power module of the electronic speed regulator of the embodiment is composed of three parts, namely a driving power supply (the voltage is determined according to the voltage of the battery and ranges from 11.1V to 16.8V), a primary power supply (the voltage is 6V) and a secondary power supply (the voltage is 3.3V). The driving power supply is input voltage, namely BAT in fig. 6, which represents the input voltage of the electronic speed regulator, the main function is to provide working power supply for a driving chip and a six-arm full-bridge circuit of the driving circuit part and obtain primary power supply through a 78L06 linear voltage stabilizing chip, the output voltage is 6V, the circuit design of the primary power supply obtained from the driving power supply is shown in fig. 6, a capacitor E1 plays a role in power supply filtering, and D1 plays a role in preventing reverse connection.
Unmanned aerial vehicle the rotational speed of motor when rapid rising or decline has a sharp process that changes, leads to input voltage fluctuation very big, uses the drive power supply that voltage fluctuation is very big, and direct step-down obtains secondary power can have voltage fluctuation great and lead to can not stably to draw 3.3V, and under the great condition of load, make the voltage unstable and the condition such as chip reset restart, job unstability appear. Aiming at the large voltage fluctuation, a mode of reducing the power supply ripple by two-stage step-by-step voltage reduction is adopted to provide a good secondary power supply for the main control chip. The primary power supply is used for providing an input voltage with less ripples for the secondary power supply, so that the secondary power supply with extremely small ripples and stability is obtained, the adverse effect on a chip requiring 3.3V voltage supply due to large driving voltage fluctuation is effectively avoided, and the circuit is shown in fig. 7.
The main control adopts an 8-bit processor EFM8BB21 which is an 8051 kernel and has three-channel PWM output, the PWM speed regulation can be realized, and a 1-channel 12-bit precision ADC (Analog-to-Digital Converter) and two comparators can be used for zero-crossing detection. The system supports simulation and downloading of a C2 interface, leads out a C2D and a CK (No. 5 pin of EFM8BB 21) as downloading program interfaces, and can effectively prevent an input end from being short-circuited to burn out a main control chip EMF8BB21 by connecting R2 in series on a signal input line. The LED1 is a four-pin RGB lamp, three control pins are connected to P0.5, P0.6 and P0.7 of EFM8BB21, respectively, and the status of the electronic governor is identified by identifying the LED1, and the main controller interface circuit is designed as shown in fig. 8.
The ground control station comprises a ground remote controller or a PC (personal computer) for sending instructions to the unmanned aerial vehicle, and a display for displaying the position of the unmanned aerial vehicle. The flight data are returned through the airborne computer, the airborne computer can be connected to a ground control station through a UDP network to adjust parameters of the flight controller, and the timeliness is high.
The invention also provides a multi-unmanned aerial vehicle control method based on ROS, which comprises a position control method, a cooperative control method and an avoidance mutual collision method among the unmanned aerial vehicles. The software framework builds distributed data processing through a publish-subscribe communications framework provided by the ROS. As shown in fig. 9, data of all unmanned aerial vehicles in the system are interacted through the ROS node manager, each unmanned aerial vehicle is controlled by the position, cooperative control and avoidance collision of the function package mavros to manage the unmanned aerial vehicles, and the PC also acquires data of the unmanned aerial vehicles through the Master and controls multiple unmanned aerial vehicles by sending instructions.
The method for controlling the position between the human machine and the machine comprises a position control mode, wherein the flight control system acquires a flight mode of the unmanned aerial vehicle and a GPS coordinate of a machine body, detects the number of satellites, switches the unmanned aerial vehicle to the position control mode when the number of the satellites is larger than a preset value, receives position control data of a ground control station and distributes target coordinates in the position control mode, controls the unmanned aerial vehicle to move in different modes according to different position control data, and switches to the previous control module when the position control data refreshing time exceeds the preset value.
Position control is important component among many unmanned aerial vehicle system, can control arbitrary aircraft and go to on certain position, can control the aircraft promptly and steadily go to the target location, just can carry out subsequent many unmanned aerial vehicle in coordination. Since this is called position control, it is the position that is sent to the aircraft, which is a three-dimensional body coordinate. In the design, two position coordinates are provided, namely a world coordinate system and a body coordinate system, wherein the world coordinate system forms a three-dimensional coordinate system by using the longitude and latitude and the altitude of a GPS; the fuselage coordinate system uses aircraft departure point as the origin of coordinates, and the directional unmanned aerial vehicle aircraft nose dead ahead of Y axle, the directional unmanned aerial vehicle right side positive direction of X axle, Z axle and unmanned aerial vehicle are upwards perpendicularly.
The two coordinates are suitable for different scenes, when the aircraft moves in a small range, for example, the aircraft moves 5 meters to the right front, only the coordinates (4, 3, 2) need to be input by utilizing the body coordinates (assuming that the current body coordinates are (0, 0, 2)), the problem is solved by utilizing the world coordinate mode, the longitude and latitude coordinates of the 5 meters on the right front need to be calculated by utilizing the longitude and latitude and the altitude of the current position, and finally, the calculation result is input to complete the moving task. The world coordinates are suitable for a wide range of mobile tasks or for clear coordinate points since the longitude and latitude near the equator are 111.3195km (the radius R of the earth is 6378.140km, the circumference is known from formula 1, and L2 pi R2 3.14159 6378.140 is 40075.0355km, and D L/360 is known from formula 2, 40075.0355/360 is 111.3195km) for each difference in one degree.
L＝2π*R (1)
D＝L/360 (2)
As shown in fig. 10, when the number of satellites received by the GPS reaches 10 (including 10 satellites), switching the position control mode for the first time is performed, if the first switching is unsuccessful, the switching is continued, until the position control mode is switched, the PC end starts to receive position control data of the PC end, the PC end control data is divided into GPS coordinates and body coordinates, the drone is controlled to move in different ways according to the difference of the control data, in order to prevent the situation that the drone flies in disorder due to an error in the position control, a flight mode that automatically returns to enter the position control mode after time out is designed in Pixhawk, the time out time is set to 500ms, that is, the Pixhawk does not receive position control data again after 500ms, and it is determined that the external control is out of control, and therefore the refresh frequency of the position control data must be set to be greater than 20 Hz.
The cooperative control method includes the steps that a flight control system acquires a flight mode of an unmanned aerial vehicle (aircraft) and GPS coordinates of a machine body, the number of satellites is detected, when the number of the satellites is larger than a preset value, the unmanned aerial vehicle is switched to a position control mode, cooperative control data of a ground control station are received in the position control mode for data processing, then an electronic speed regulator is scheduled and controlled to output through controlling Pixhawk to enable the aircraft to move towards a target position, and when the coordinate position of the machine body is matched with the coordinate of the target position, the fact that the aircraft reaches the target position is indicated.
The cooperation of multiple unmanned aerial vehicles requires the construction of a multi-machine communication hub, and a good communication hub does not exist, so that the data interaction of the multiple unmanned aerial vehicles cannot be carried out, and therefore, the construction of a stable and reliable multi-machine communication hub is very necessary, and a multi-machine communication network is formed. The multi-unmanned aerial vehicle system ensures that the data interaction of the multi-unmanned aerial vehicles can be realized through a multi-machine communication mechanism of the ROS, namely, an aircraft is identified through the IP address of each airborne computer in a local area network, one unmanned aerial vehicle is set in the system as a host, and other unmanned aerial vehicles are slaves, so that a distributed communication network is formed, and the basic requirement of multi-unmanned aerial vehicle communication is met.
The multi-unmanned aerial vehicle cooperative control is based on a position control mode, positions of multiple unmanned aerial vehicles are uniformly adjusted, coordinate control data of the multiple unmanned aerial vehicles are issued through a PC to take effect on the multiple unmanned aerial vehicles at the same time, the unmanned aerial vehicles in the system all enter the position control mode, and the unmanned aerial vehicles issue updated position coordinates after receiving the control data. The unmanned aerial vehicles collaborate to depend on longitude and latitude data, when position control is used, the GPS star number is ensured to meet fixed-point flight requirements, therefore, when the aircraft is started, the aircraft is enabled to be in a fixed-point flight mode, after the GPS is searched to be enough as the satellite number and an onboard computer (raspberry group) is successfully connected with a flight controller (Pixhawk) through mavros, a position control node is started to subscribe two topics of state, local _ position/position to obtain the state, the flight mode and the body coordinates of the aircraft, then flight mode selection service and position control service are established, the flight mode is set to be the position control mode, whether new position information is transmitted or not is inquired according to set refreshing frequency, and a target position is issued to a node manager (responsible for data interaction between a processing node and a node) through the topic _ position/local, and if the target position is refreshed. The node is only responsible for receiving the position information and issuing the target coordinate, and the specific execution process is that the Pixhawk dispatches and controls the output of the electronic speed regulator to enable the aircraft to move to the target position, when the coordinate position of the body is coincided with the coordinate of the target position, the aircraft reaches the target position, and the cooperative control flow is shown in fig. 11.
The method for avoiding mutual collision comprises the steps that a group control system obtains GPS coordinates of all unmanned aerial vehicles, the distance between the unmanned aerial vehicles is calculated according to the GPS coordinates, whether the distance reaches a mutual collision threat radius is judged through judging, if the distance reaches the threat radius, the mutual collision avoidance is started to avoid the mutual collision of the unmanned aerial vehicles, and otherwise, the mutual collision avoidance detection is finished.
Unmanned aerial vehicle realizes the fixed point according to GPS's longitude and latitude and altitude, acquires in the system unmanned aerial vehicle GPS coordinate and can calculate the distance between the unmanned aerial vehicle, guarantees that unmanned aerial vehicle collision occurence can not appear in many unmanned aerial vehicle collaborative processes.
The relative position calculation of the multiple unmanned aerial vehicles is that the horizontal distance and the vertical distance between every two unmanned aerial vehicles can be calculated through two-point coordinates according to longitude and latitude and altitude serving as position coordinates. It should be noted here that the entire spherical surface is 360 °, but the meridian is 180 ° for east longitude and west longitude, and the latitude is 90 ° for south latitude and north latitude, so that the entire spherical surface can be regarded as an irregular rectangular coordinate system, the origin is at the intersection of the equator and 0 ° longitude, the north latitude part of east longitude is set as the first quadrant, the north latitude part of west longitude is set as the second quadrant, the south latitude part of west longitude is set as the third quadrant, the south latitude part of east longitude is set as the fourth quadrant, i.e., the south latitude part of east longitude takes the positive value, the west longitude part takes the negative value, the north latitude part takes the 90-latitude value, the south latitude part takes the 90+ latitude value, and after the above processing, the two coordinates can be respectively expressed as a (ALat, Alon), B (Blat, Blon). As the distances of each latitude with one degree are different, the earth is seen as being similar to a sphere, the horizontal distance between two points can be calculated by combining the radius of the sphere with the longitude and latitude, and the distance between the two points is calculated by substituting the result of the formula 3 into the formula 4.
C＝sin(ALat)*sin(BLat)*cos(ALon-BLon)+cos(ALat)*cos(BLat) (3)
S＝R*arccos(C)*π/180 (4)
After unmanned aerial vehicle's relative position derives, when the target point is gone to in coordination, guarantee every unmanned aerial vehicle can not be less than 2 meters at the level apart from, when unmanned aerial vehicle not with the horizontal plane on the vertical distance can not be less than 2 meters, the collision threat radius of many unmanned aerial vehicle systems be horizontal radius 2 meters promptly, vertical radius 2 meters, it avoids mutually hitting the effective model as shown in figure 12, the central point is unmanned aerial vehicle, the region belongs to the collision threat region in the frame. When a certain unmanned aerial vehicle in the system reaches a target position, the target point is shown, the other unmanned aerial vehicles fly in a fixed-point mode and wait for responding to the next task, three unmanned aerial vehicles are taken as an example, collision avoidance software is designed as shown in fig. 13, after the unmanned aerial vehicles in the system obtain GPS coordinates, the distance between the unmanned aerial vehicles is calculated according to the GPS coordinates, whether collision early warning is achieved is judged by judging the distance, collision avoidance is started to avoid collision of the unmanned aerial vehicles when collision avoidance is achieved, and otherwise, the collision avoidance detection is finished.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a many unmanned aerial vehicle control system based on ROS which characterized in that: the unmanned aerial vehicle system comprises a communication module, a first power module and a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle comprises a group control system arranged on a group control board and a flight control system arranged on a flight control board; the communication module is respectively connected with a plurality of unmanned aerial vehicles; the group control system is connected with the flight control system; the first power supply module is respectively connected with the group control system and the flight control system;
the group control system is used for acquiring the position information of each unmanned aerial vehicle in the system, acquiring the GPS coordinate of the local machine, issuing the GPS coordinate to other unmanned aerial vehicles in the system, receiving control data sent by a ground control station, and sending the control data to a flight controller of the flight control system for operation after data processing;
the flight control system is used for receiving a control instruction of the group control system, acquiring position information and speed information of the unmanned aerial vehicle and controlling the flight mode, the height, the speed and the course of the unmanned aerial vehicle;
the group control system is in information interaction with the unmanned aerial vehicles through the communication module, and the unmanned aerial vehicles are communicated through the communication module;
the first power supply module is used for supplying power to the group control system and the flight control system.
2. The ROS-based multi-drone controlling system of claim 1, wherein: the flight control system comprises a flight controller, a receiver, an alarm, a safety switch, a GPS module, an electronic speed regulator and a brushless motor; the receiver, the alarm, the safety switch, the GPS module and the electronic speed regulator are respectively connected with the flight controller, and the brushless motor is connected with the electronic speed regulator; wherein:
the flight controller is the core of a flight control system and is used for data processing and control;
the receiver is used for receiving a control instruction transmitted by the ground control station;
the alarm is used for receiving an alarm signal, automatically giving an audible and visual alarm after receiving the alarm signal and sending a corresponding action signal;
the safety switch is used for locking power output of the unmanned aerial vehicle in a standby state;
the GPS module is used for detecting the position information of the unmanned aerial vehicle and sending the position information to the flight controller;
the electronic speed regulator is used for controlling the rotation of the brushless motor according to the control signal of the flight controller.
3. The ROS-based multi-drone controlling system of claim 1, wherein: the electronic speed regulator comprises a second power supply module, a main control module, a zero-crossing detection circuit module and a six-arm full-bridge driving circuit module; the output end of the main control module is connected with the input end of the six-arm full-bridge driving circuit module through the intermediate driver, the output end of the six-arm full-bridge driving circuit module is externally connected with the brushless motor, and the output end of the zero-crossing detection circuit module is connected with the input end of the main control module; the second power supply module is connected with the main control module.
4. The ROS-based multi-drone control system according to claim 3, characterized in that: the six-arm full-bridge driving module is composed of N-channel MOS tubes of which the models are SL150N03Q, and the main control module is a processor of which the model is EFM8BB 21.
5. The ROS-based multi-drone control system according to claim 3, characterized in that: the intermediate driver adopts a three-phase gate driver with the model FD 6288.
6. The ROS-based multi-drone controlling system of claim 1, wherein: the ground control station comprises a ground remote controller or a PC (personal computer) for sending instructions to the unmanned aerial vehicle, and a display for displaying the position of the unmanned aerial vehicle.
7. A multi-unmanned aerial vehicle control method based on ROS is characterized in that: the method comprises a position control method, a cooperative control method and an avoidance mutual collision method among the unmanned aerial vehicles.
8. The ROS-based multi-drone control method of claim 7, characterized in that: the method for controlling the position between the human machine and the machine comprises a position control mode, wherein the flight control system acquires a flight mode of the unmanned aerial vehicle and a GPS coordinate of a machine body, detects the number of satellites, switches the unmanned aerial vehicle to the position control mode when the number of the satellites is larger than a preset value, receives position control data of a ground control station and distributes target coordinates in the position control mode, controls the unmanned aerial vehicle to move in different modes according to different position control data, and switches to the previous control module when the position control data refreshing time exceeds the preset value.
9. The ROS-based multi-drone control method of claim 7, characterized in that: the cooperative control method includes the steps that a flight control system acquires a flight mode of an unmanned aerial vehicle and GPS coordinates of a machine body, the number of satellites is detected, when the number of the satellites is larger than a preset value, the unmanned aerial vehicle is switched to a position control mode, cooperative control data of a ground control station are received in the position control mode for data processing, then an electronic speed regulator is scheduled and controlled to output through controlling Pixhawk to enable the aircraft to move to a target position, and when the coordinate position of the machine body is matched with the coordinate of the target position, the aircraft reaches the target position.
10. The ROS-based multi-drone control method of claim 7, characterized in that: the method for avoiding mutual collision comprises the steps that a group control system obtains GPS coordinates of all unmanned aerial vehicles, the distance between the unmanned aerial vehicles is calculated according to the GPS coordinates, whether the distance reaches a mutual collision threat radius is judged through judging, if the distance reaches the threat radius, the mutual collision avoidance is started to avoid the mutual collision of the unmanned aerial vehicles, and otherwise, the mutual collision avoidance detection is finished.
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